METHOD FOR CONTROLLING THE OPENING OF A WORK APPARATUS HAVING PAIRWISE ARRANGED PROCESSING DEVICES FOR VITICULTURE, AND WORK APPARATUS

Abstract

A device and method for controlling the opening of a work apparatus having pairwise arranged processing devices for viticulture. The work apparatus is attached to a work vehicle and comprises at least one piece of holding equipment which reaches over a row of plants and on which at least one of the processing devices is held. At least one processing device (is arranged on each side of the row. A clear opening is able to be established between the processing devices and/or is able to be changed in terms of an opening width and/or an opening length by at least one actuator. At least one image recording is generated by at least one electronic camera at least for at least one field of view.

Claims

1. A method for controlling an opening of a work apparatus having pairwise arranged processing devices for viticulture, the method comprising: attaching the work apparatus a work vehicle, the work apparatus comprising at least one piece of holding equipment that reaches over a row of plants and on which at least one of the processing devices is held; arranging at least one processing device on each side of the row; moving at least one of the processing devices in relation to the other processing device or to the piece of holding equipment, or the piece of holding equipment comprising the processing devices is adapted to be swiveled in relation to a longitudinal direction of the row such that a clear opening is able to be established between the processing devices and/or is able to be changed in terms of an opening width and/or an opening length via at least one actuator; generating at least one image recording via at least one electronic camera at least for at least one field of view; generating and storing at least one image recording of at least one field of view located in front of the processing devices in an electronic image file on an ongoing basis or in regular intervals in relation to the travel time and/or travel distance of the work vehicle; checking the image file in an image recognition device of a control device, at least for the presence of linear structures in at least one image region of the image file; and sending, if a linear structure that qualifies as an obstacle is recognized, a control pulse by the control device to the actuator to trigger an opening movement that establishes or increases the opening between the processing devices.

2. The method according to claim 1, wherein after delivery of the control pulse, the position of the linear structure is tracked by ongoing evaluation of further image files subsequently recorded from the field of view.

3. The method according to claim 1, wherein a control pulse is sent by the control device to the actuator to trigger a closing movement which reduces the opening width between the processing devices if the linear structure disappears from the image region or reaches a target specified in the image region.

4. The method according to claim 1, wherein a lateral inclination of the linear structure with respect to an image horizon or other reference plane is calculated by the control device, and wherein the opening width for the processing devices necessary for the opening movement is calculated from the lateral inclination.

5. The method according to claim 1, wherein the image region stored in the image file is electronically compressed or stretched in at least one dimension in an image correction device of the control device before being fed to the image recognition device.

6. The method according to claim 1, wherein the processing devices are adapted to be moved from an opening position into a closing position, and vice versa.

7. The method according to claim 1, wherein the distance between the processing devices between an opening position and a closing position are adjustable.

8. The method according to claim 1, wherein, in order to change the size of the opening between the processing devices, the clear opening width measured transversely to the longitudinal extension of the row between the processing devices is changed by changing the distance between the processing devices.

9. The method according to claim 8, wherein in the case of a moving work vehicle, in order to change the size of the opening between the processing devices, the opening length measured in the longitudinal extension of the row is changed, in addition to the opening width, by emitting a control pulse for the purposes of triggering a closing movement, which follows a control pulse for the purposes of triggering an opening movement, before the opening position is fully reached.

10. A work apparatus for viticulture to be attached to a work vehicle, the work apparatus comprising: at least one pair of processing devices attachable to a piece of holding equipment and designed to reach over a row of plants, wherein at least one processing device is arranged on each side of the row; an actuator via which at least one of the processing devices is adapted to be moved in relation to the other processing device or to the piece of holding equipment, or the holding device with the processing devices is adapted to be swiveled in relation to the longitudinal direction of the row such that a clear opening is able to be established between the processing devices and/or is able to be changed in terms of an opening width and/or an opening length; an electronic camera to generate at least one electronic image file from an image acquisition of at least one field of view, the field of view being aligned with a region located in front of the work apparatus in a direction of travel; a control device; and an image recognition device designed to check the electronic image file(s) containing the image recording for the presence of linear structures that qualify as an obstacle in at least one image region of the image file, wherein the control device is designed to provide a control pulse to the actuator if a linear structure is recognized in the image recognition device to trigger an opening movement that establishes or increases the opening between the processing devices.

11. The work apparatus according to claim 10, wherein the work apparatus is a pre-pruner and the processing devices are sets of shearing discs with rotary-driven shearing discs held on a piece of holding equipment which is designed to reach over the row.

12. The work apparatus according to claim 10, wherein a position sensor or a GPS receiver for measuring the travel distance is arranged on the work vehicle and/or connected to the control device for data transmission.

13. The work apparatus according to claim 10, wherein the control device is connected to an electronic speed measuring device.

14. The work apparatus according to claim 10, wherein the camera is oriented vertically or obliquely from the side to an area in the row immediately in front of the processing devices.

15. The work apparatus according to claim 14, wherein the control device comprises an image correction device upstream of the image recognition device for the elimination of optical distortions.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus, are not limitive of the present invention, and wherein:

[0040] FIG. 1 shows a work vehicle between two rows of a vineyard in a schematic view from above;

[0041] FIG. 2 shows a block diagram of a control device

[0042] FIG. 3 shows a camera shot;

[0043] FIG. 4 shows a block diagram of a control device;

[0044] FIG. 5 shows the movement of the processing devices in the area of a stickel, in a schematic view from above;

[0045] FIG. 6 is a schematic representation of the opening width and length in the processing devices, in a schematic view from above; and

[0046] FIG. 7 shows the movement of the processing devices in the area of a stickel according to an example, in a schematic view from above.

DETAILED DESCRIPTION

[0047] FIG. 1 schematically shows from above two rows 1, 1 of a vineyard with an intermediate operation 2. A large number of vines 3 are in a linear arrangement, each forming a row 1, 1. It contains several stickels 5. At the end of the row there is another, inclined stickel 4, through which the preload is applied to the wire trellises extending between the stickels 5.

[0048] A pre-pruner represents a work apparatus 10, which is permanently connected to a tractor as a work vehicle 20. The work apparatus 10 comprises a piece of holding equipment 11 with a crossbeam that reaches over the row 1. Two sets of rotating pre-pruner discs form a pair of processing devices 12, 13, a so-called basket. These are connected to the crossbeam and equipped with an adjuster in such a way that they can move outwards from the row 1 at right angles to the direction of travel F.

[0049] The illustration of the work apparatus 10 on the left in FIG. 1 shows the entry into the row 1. The processing devices 12, 13 are close to each other or comb into each other. A camera 14 captures a field of view 15 located immediately in front of the processing devices 12, 13 and electronically evaluates it in an image processing device that is part of a control device. The orientation of the field of view 15 of the camera 14 is transverse to the direction of travel F.

[0050] In the illustration of the work apparatus 10 in the middle in FIG. 1, a vine 3 has just been passed and a following stickel 5 has been recognized. Therefore, an opening pulse was emitted by the control device. The two processing devices 12, 13 are now at such a distance from each other that the stickel 5 can pass between them.

[0051] FIG. 2 shows in a schematic diagram the link between the work apparatus 10 and the control device 40. This includes an image correction device 41 with which, in particular, a compression or stretching of the field of view captured by the camera 14 and stored in an image file can be carried out in at least one dimension. The image thus corrected is checked for the presence of linear structures in an image recognition device 42. If such a structure is recognized, at least one actuator 16 is actuated via a switching unit 43 in order to move the two processing devices 12, 13 apart.

[0052] FIG. 3 renders the contents of an electronic image file 30. The image region 31 has been corrected by horizontal and vertical compression zones 33, 34, 35, 36 in such a way that, for example, an image horizon 37 runs straight. As a result, a stickel 5 can also be recognized as a straight linear structure, which is here marked with a marking 32 as a linear structure recognized by the image recognition device 42. Since the linear structure extends from the floor to the working area of the work apparatus, it qualifies as an obstacle, so that if such a structure is recognized, an opening movement must be triggered.

[0053] FIG. 4 shows in a further block diagram the linking of the work apparatus 10 with a control device 40 according to a second embodiment. In addition to the image correction device 41, the image recognition device 42 and the switching unit 43, this includes a speed sensor 44 and a timer 45, so that a distance of the work vehicle and the associated work apparatus 10 can be determined by linking time and speed.

[0054] FIG. 5 shows in an enlarged partial view of FIG. 1 the path of the pair of processing devices 12, 13 around the stickel 5, wherein the path in its optimized form is represented in each case by a dash-dotted line.

[0055] FIG. 6 is a schematic representation for the movement of the processing devices 12, 13 shown in FIG. 5. From a working position or a closing position of the processing devices 12, 13 at a point 6.1, an opening is established in the direction of travel F, still behind the stickel 5, to an opening position with an opening width Bo at a point 6.2 and from there back to the working position at a point 6.3 in front of the stickel 5. Thus, until the return to the working position, the opening between the points 6.1, 6.3 was present over the opening length L.

[0056] While the dash-dotted lines represent the real distance between the processing devices 12, 13, the dotted lines mark the possible maximum distance of the processing devices 12, 13 until a mechanically or otherwise limited, maximum opening with an opening width B.sub.max is reached. In the schematic diagram in FIG. 6, the control pulse for opening was issued at the point 6.1. During the movement of the processing devices 12, 13 to their maximum possible opening position, the switching pulse for closing was already given at the point 6.2, i.e., at about half of the intended opening length L. As a result, the opening width B.sub.max at the point 6.2 was only about 60% of the maximum possible width B.sub.max. Consequently, the unprocessed area around the stickel 5, which can be seen in FIG. 6 as a rhombus, is significantly smaller than it would have been if the maximum possible opening position B.sub.max had been reached in accordance with the dotted lines.

[0057] This type of control pulse superposition is made possible by the fact that the necessary opening length L is either stored as a parameter in the control device or that the distance between the processing devices 12, 13 and the stickel in the row direction is determined by the image recognition device and the necessary opening length L is calculated from this, for example as twice the measured distance between the recognized stickel 5 and the processing devices 12, 13.

[0058] FIG. 7 shows how an opening width is established in a pair of processing devices 12, 13 in order to be able to travel past a stickel 5 as an obstacle. The processing devices 12, 13 are held on a piece of holding equipment which is placed at an angle with respect to the direction of travel F along the row 1. As a result, the processing devices 13 are located in the direction of travel F in front of the processing devices 12 on the other side of the row 1. Seen in the direction of travel F, there is no opening between the processing devices 12, 13, although they are oriented in the direction of their holding equipment 11 at a constant distance from each other. Shortly before reaching the obstacle, the entire arrangement of holding equipment 11 and processing devices 12, 13 is swiveled in such a way that the holding equipment 11 is positioned transversely to the direction of travel F or longitudinal direction of the row 1. Now the constant distance between the processing devices 12, 13 can be used as an opening width and the stickel 5 can be passed.

[0059] The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are to be included within the scope of the following claims.